07 Rr410205 Advanced Control Systems

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Code No: RR410205 Set No. 1

IV B.Tech I Semester Regular Examinations, November 2007
ADVANCED CONTROL SYSTEMS
(Electrical & Electronic Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
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1. Suppose you are given a linear time-invariant system, how do you transform the
same system into controllability canonical form? State and prove the theorem used.
2. (a) Define Lyapunov?s stability and Instability Theorem.

[8+4+4]
(b) Suppose you are given a linear continuous time autonomous system, how do
you decide whether a system is globally asymptotically stable?
3. (a) Consider the system with

[4+4+8]
i. Consider
 the system
 with
 
1 0 0 0 1
1 2 0
A = 0 2 0 B = 1 0 and C =
   
0 0 1
0 0 3 1 1
Obtain equivalent system in controllable companion form
ii. Obtain equivalent observable companion form for the system given in (a).
[8+8]
Obtain equivalent system in controllable companion form
(b) Obtain equivalent observable companion form for the system given in (a)
[8+8]
4. A plant
is described
by the equations
0 1 0
x= x+ ux1 (0) = 1x2 (0) =Choose the feedback law u=−K[x1 +x1 ]
0 0 1
Rα
Find the value of k so that J=1/2 (x21 + x22 + λu2 )dt is minimized when
0
(a) λ = 0
(b) λ = 1
Also determine the values of minimum J in two cases. [4+4+4+4]
5. (a) Find the Euler Lagrange equations and the boundary conditions for the ex-
tremal ofπ the functional
R2 •2 •
J(x) = (x1 +2x1 x2 + x22 )dt
0
x1 (0) = 0,x1 ( π2 ) x1 ( π2 )= −1
is tree
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(b) What is a Hamiltonian. Formulate the optimal control problem in terms of
Hamiltonian. [8+8]
6. (a) State and explain the principle of optimality.

(b) Obtain the Hamilton Jacobi equation for the system described by
•
x = u(t) subject to the initial condition x(0) = x0 Find the control law that
minimizes
Rt1
j = 1/2x2 (t1 ) + (x2 + u2 ) dt : t1 Specified [2+6+8]
0
7. Obtain the Describing function analysis for the system shown in Figure 7
Figure 7
8. (a) Explain the delta method for construction of trajectories of second order dy-
namical systems.
(b) Consider the system described by the following equation: ẍ+ ẋ+x3 = 0. Given
the initial conditions x(0)=1, ẋ(0) = 0 , construct the trajectory starting at
the initial point. [16]
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1. State the basic theorem for determining the concept of controllability of time vary-
ing system utilizing state transition matrix. Explain the same with proof. [8+8]
2. (a) Define
i. Positive definite
ii. Negative definite
Give examples for the above
(b) Consider the linear autonomous
0.5 1
system
x(K + 1) = x(K)
−1 −1
Using direct method of Lyapunov, determine stability of the equilibrium state.
[4+4+8]
3. (a) Given the system X = Ax +Bu where

1 0 0 1 0
A= 0  2 0  B = 0 1 

0 0 3 1 1
Design a linear state variable feedback such that the closed-loop poles are
located at -1,-2 and -3.
(b) Explain the concept of Stabilizability. [10+6]
4. (a) Explain Minimum - Time problem?

(b) Explain State Regulator problem in brief? [8+8]
5. (a) Derive the transversality condition in extermination of functions.

(b) Prove that for the
q functional
Rt1 •2
J(x) = A(x, t) 1 + xdt
t0
• •
the transversality condition reduces to orthogonlity is x y = −1 where y(t) is
the curve on which the movable right points lies. [8+8]
6. (a) Formulate the continuos time process as a multi state decision process
(b) What is the principle causality? [8+8]
7. (a) Explain the effect of inherent nonlinearities on static accuracy.

(b) Derive the Describe function for an on-off nonlinearity with hysteresis.[6+10]
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8. Draw a phase-plane portrait of the following system:
θ̈ + θ̇ + sin θ = 0. [16]
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1. Consider a system described by the state equation
0
x = A(t)x(t) +bu(t)
Where A(t) =
1 e−t
0 −1
; b=
drive it from x(0)=0 to x’ =

1
1
0
1
Is this system controllable at t=0?
If yes, find the minimum-energy control to
at t=1
[8+8]
2. For the
system
• 0 1
x = x
−2 −3
find a suitable Lyapunov function V(x). Find an upper
bound
on time that it takes
1
the system to get from the initial condition x(0) = to within the area defined
1
by x21 + x22 = 0.1 . [16]
3. (a) Explain the design of full-order state observer?
(b) Consider the
system
0 20.6 0
with A = B = C = [0 1]
1 0 1
Design a full-order state observer. Assume that the desired eigen values of the
observer matrix are µ1 = −1.8 + i2.4, µ2 = −1.8 − i2.4. [8+8]
4. For the discrete ? time system given Gp (s) = 1/S.G0 (s) = 1−eS r(t)=unit step T=1
−ST
sec.
Find optimal transfer function T*(z) so that output C(t) follows input r(t) mini-
mizing
α
[r(kT ) − c(kT )]2 with
P
Je =
k=0
α
u2 (kT ) = 0.5
P
Ju =
k=0 [16]
5. Illustrate with an example the problem with terminal time t1 fixed and x (t1 ) free.
[16]
6. (a) Formulate the continuos time process as a multi state decision process
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(b) What is the principle causality? [8+8]
7. (a) Explain the concept of limit cycle and jump responses.

(b) Derive the equation for the describing function N for the hysteresis nonlinearity
shown in Figure 7. [6+10]
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8. The relay control system of Figure 8 below uses a relay with dead-zone and an
inner rate feedback loop. Draw a set of isoclines and plot the phase-trajectory for
zero input with initial conditions
c(0) = 2, ċ(0) = 5.0
Also compute and plot time response of the system. Find there from the settling
time and steady -state error.
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1. State the basic theorem for determining the concept of controllability of time vary-
ing system utilizing state transition matrix. Explain the same with proof. [8+8]
2. For the
•
x =
system
0
−2 −3
1
x
find a suitable Lyapunov function V(x). Find an upper
the system to get from the initial condition x(0) =
by x21 + x22 = 0.1 .
bound
1
1
on time that it takes
to within the area defined
[16]
3. (a) Consider
a single-input/single-output
system
• 0 1 0
X= x + u
−1 − 2 1
y= 1 2 X
Check for controllability and observability.
(b) Now introducing a feedback signa[u = r + [2 − 1]X in (a) comment on control-
lability and observability. [4+4+4+4]
4. (a) Discuss some typical control problems to provide some physical motivation for
the selection of a performance measure.
4
(b) Consider a unity feedback system with G(s) = s(s+α)
The output is required to track unit step input. Find the value of α that
minimizes integral square error. [8+8]
5. Illustrate with an example the problem with terminal time time t1 and x(t1 ) f ree.
[16]
6. (a) State and prove optimal control problem based on dynamic programming in
discrete time system
(b) Explain the principles of causality and invariant imbedding. [2+6+8]
7. (a) Explain the popular nonlinearities.

(b) For the system shown in Figure 8, determine the amplitude and frequency of
the limit cycle. [6+10]

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8. The position control system shown in Figure 8 below has coulomb friction C at
the output shaft. Plot the phase trajectory for a unit step input and zero initial
conditions. Calculate and plot the response of the error and find the value of the
steady-state error.
Given
p
(K/J) = 1.2 = 1.2 rad/sec, C/K = 0.3 rad, where K = KA K1 . [16]
Figure 8
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07 Rr410205 Advanced Control Systems

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www.andhracolleges.

com The Complete Information About Colleges in Andhra Pradesh

Code No: RR410205 Set No. 1

2. (a) Define Lyapunov?s stability and Instability Theorem.

3. (a) Consider the system with

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www.andhracolleges.com Engineering-MBA-MCA-Medical-Pharmacy-B.Ed-Law Colleges Information

Code No: RR410205 Set No. 1

6. (a) State and explain the principle of optimality.

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Code No: RR410205 Set No. 2

3. (a) Given the system X = Ax +Bu where

4. (a) Explain Minimum - Time problem?

5. (a) Derive the transversality condition in extermination of functions.

7. (a) Explain the effect of inherent nonlinearities on static accuracy.

www.andhracolleges.com Engineering-MBA-MCA-Medical-Pharmacy-B.Ed-Law Colleges Information

Code No: RR410205 Set No. 2

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Code No: RR410205 Set No. 3

drive it from x(0)=0 to x’ =

3. (a) Explain the design of full-order state observer?

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Code No: RR410205 Set No. 3

7. (a) Explain the concept of limit cycle and jump responses.

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Code No: RR410205 Set No. 4

7. (a) Explain the popular nonlinearities.

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Code No: RR410205 Set No. 4

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